Surgical instrument with retaining feature for cutting element

ABSTRACT

A surgical instrument comprises a pair of jaw members comprising a first jaw member comprising a groove along a length portion of the first jaw member, the groove extending from a gripping surface of the first jaw member in a first direction, and a slot along the length portion of the first jaw member and extending from the groove in a second direction, the second direction being different than the first direction. The instrument further comprises a cutting element comprising a first edge engaged with the groove and translatable along the groove; and a retaining feature coupled to the first edge of the cutting element and engaged with the slot, the retaining feature remains engaged with the slot throughout a range of translation of the cutting element. The cutting element is translatable along the groove independently from a movement of the pair of jaw members between open and closed positions.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. application Ser. No.16/338,793, filed as a U.S. national stage application under 35 U.S.C. §371(c) of International Application No. PCT/US2017/054740, filed Oct. 2,2017, which claims priority to U.S. Application No. 62/403,459, filedOct. 3, 2016 (now expired), each of which is hereby incorporated byreference in its entirety.

TECHNICAL FIELD

Aspects of the present disclosure relate to surgical instruments, andrelated systems, devices, and methods, that have an end effectorcomponent with a translatable cutting element.

INTRODUCTION

The benefits of minimally invasive (e.g., laparoscopic, thoracoscopic,teleoperated, etc.) surgery are known. Instruments for such surgerytypically have a surgical end effector mounted at the distal end of arelatively long shaft that is inserted through an opening (e.g., bodywall incision, natural orifice) to reach a surgical site. In some cases,the surgical instruments can be passed through a cannula and anendoscope can be used to provide images of the surgical site. In somecases, an articulating wrist mechanism may be mounted at theinstrument's distal end to support the end effector and change itsorientation with reference to the shaft's longitudinal axis. In somecases, remotely controlled surgical instruments, including both manual,laparoscopic instruments and computer-assisted, teleoperated surgicalinstruments (sometimes referred to as robotic surgical instruments), areoften used in minimally invasive medical procedures. For example, inteleoperated surgical systems, surgeons manipulate input devices at asurgeon console, and those “master” inputs are passed to a patient sidecart that interfaces with one or more remotely controlled surgicalinstruments coupled to the patient side cart. Based on the surgeoninputs at the surgeon console, the one or more remotely controlledsurgical instruments are actuated at the patient side cart to operate onthe patient, thereby creating a master-slave control relationshipbetween the surgeon console and the surgical instrument(s) at thepatient side cart.

Although minimally invasive surgical instruments can include endeffectors configured to provide a variety of functionality common tosurgical procedures (e.g., forceps, spatula, needle drivers, surgicalblades, grippers, electrical energy delivery, suction/irrigation, etc.).One configuration of a surgical instrument end effector comprises acombination of gripping jaw members and a retractable cutting elementsuch as a translating knife or cutting blade. The jaw members may beconfigured to open and close over a range of motion, thereby beingusable to grip a material such as tissue between the gripping jawmembers. Optionally, the jaw members may further be provided withelectrode surfaces configured to deliver electrosurgical energy, forexample to fuse tissue, with the cutting element being used to cut thefused tissue. When combined with a cutting element, gripping jaw membersgenerally include grooves for guiding a translatable cutting element.The cutting element can be translated or moved from a relativelyproximal position of the jaw members to a relatively distal positionproximate a free end of the jaw members.

Such grooves do not receive or house the edges of the cutting elementover a full range of motion of the jaw members, but rather only over arange of motion between a fully closed position and an intermediateposition of gripping, i.e. not in a fully open position. For instance,in normal use, the jaw members are closed over a material such astissue, the cutting element is deployed forward along the grooves, suchthat a front-facing or distal-facing blade cuts the material. Thecutting element is then retracted proximally back into a home position(or “garaged”) without slipping out of the grooves. However, whengripping jaw members are in a position between the fully open positionand the engaged intermediate gripping position, the retractable cuttingelement in existing surgical instruments is not constrained in any way.For example, if the jaw members are gripping a larger material such as atissue bundle or are otherwise in a sufficiently open position, thecutting element can slip out of its track, and be derailed, or a drivecomponent of the cutting element can be bent out of shape. The cuttingelement also is prone to slipping out of its track(s) when it encountersdry or calcified tissue, or any other hard object such as a staple,colostomy/colpotomy ring, etc. The resultant increased pressure causes adrive element of the cutting element to bend and change an angle oforientation of the cutting element, which can derail the cutting elementfrom the track. This hinders the ability of the cutting element tosmoothly translate, for example, such that the cutting element does notreturn into a home position. Further, regardless of the position of thegripping jaw members, the cutting element can slip out of its trackswhen it encounters dry or calcified tissue due to, for instance,increased pressure that causes a drive element of the cutting element tobend and change an angle of the cutting element.

Consequently, it is desirable to improve the functioning of surgicalinstruments that incorporate cutting elements that translate between jawmembers of an end effector. In addition, size constraints posechallenges in the design of surgical instruments for minimally invasiveapplications. Thus, it is desirable to minimize the size of suchinstruments without negatively impacting the ability of the instrumentto perform multiple functions that may require space to accommodatevarious actuation and other components along the instrument. Thereexists a continued need to improve upon electrical flux deliveryinstruments, such as electrosurgical instruments, and related systemsand methods for performing electrosurgical procedures on materials suchas tissue.

SUMMARY

Exemplary embodiments of the present disclosure may solve one or more ofthe above-mentioned technical challenges and/or may demonstrate one ormore of the above-mentioned desirable features. Other features and/oradvantages may become apparent from the description that follows.

In accordance with at least one exemplary embodiment, the presentdisclosure contemplates a surgical instrument, comprising a shaft havinga proximal end and a distal end, and an end effector coupled to thedistal end of the shaft. The end effector comprises a pair of jawmembers, each jaw member being configured to be moved relative to theother jaw member between an open position and a closed position, and acutting element. The jaw members are configured to grip material betweengripping surfaces of the jaw members, and the cutting element isconfigured to cut the material gripped between the gripping surfaces.The cutting element is further configured to translate between and alonga lengthwise direction of the jaw members. The cutting element and afirst jaw member comprise complementary retaining features thatcooperate to retain the cutting element in a position held by the firstjaw member throughout a range of motion of the jaw members between theopen and the closed position.

In various exemplary embodiments, the complementary retaining featuresinclude a retaining flange coupled to the cutting element and a slotprovided in a gripping surface of the first jaw member. The slot isconfigured to house the retaining flange.

In various exemplary embodiments, the retaining flange is oriented at aperpendicular angle to a plane of the cutting element. The grippingsurface of the first jaw member may further comprise a first grooveoriented with the plane of the cutting element, and the slot is providedwithin the first groove and is oriented with the retaining flange.Further, the slot and the first groove may run in the lengthwisedirection. The slot retains the cutting element in the position held bythe jaw member as the cutting element translates along the lengthwisedirection.

In various exemplary embodiments, a gripping surface of the second jawmember is provided with a second groove running in the lengthwisedirection. The second groove is configured to engage a portion of thecutting element while the jaw members are in the closed position.

In another exemplary embodiment, the portion of the cutting elementengaged by the second groove while the jaws are in the closed positionis disengaged from the second groove as the jaws are moved towards theopen position.

In accordance with another exemplary embodiment, the present disclosurecontemplates a surgical instrument, comprising a pair of jaw membersconfigured to grip material. At least one jaw member of the pair of jawmembers comprises a groove running along a length of a gripping surfaceof the at least one jaw member. A planar cutting element is orientedalong the length and between the pair of jaw members. A first edge ofthe planar cutting element is configured to engage the groove. Aretaining feature is coupled to the first edge of the planar cuttingelement, and configured to engage a corresponding slot provided withinthe groove. The retaining feature remains engaged with the correspondingslot as the cutting element is translated along the length of thegripping surface.

In yet other exemplary embodiments, the pair of jaw members is coupledto a wrist at a proximal end of the pair of jaw members, the wrist beingconfigured to articulate in multiple degrees of freedom about alongitudinal axis. The surgical instrument may further include a cuttingelement drive component disposed along the longitudinal axis, thecutting element drive component being configured to translate thecutting element along the groove. The cutting element drive component issufficiently flexible so as to bend as the wrist is articulated in themultiple degrees of freedom about the longitudinal axis and as the atleast one jaw member is articulated between an open position and aclosed position.

In a various exemplary embodiments, the cutting element drive componentis coupled to a second edge of the cutting element, the second edgeoriented between the pair of jaw members. A third edge of the cuttingelement opposite the second edge comprises a sharp edge for cutting thematerial gripped between the gripping surfaces as the cutting element istranslated.

In yet other exemplary embodiments, the retaining feature and thecutting element are molded from a single material. Alternatively, theretaining feature is coupled to the cutting element, and may comprise apin.

In another exemplary embodiment, each jaw member of the pair of jawmembers is configured to be moved from an open position to a closedposition independently from the other jaw member.

In accordance with another exemplary embodiment, the present disclosurecontemplates a method, comprising gripping a material between opposingsurfaces of a pair of jaw members, with each jaw member being configuredto be moved relative to each other between open and closed positions,and translating a cutting element provided between the opposing surfacesalong a lengthwise direction of the jaw members to cut the materialgripped between the opposing surfaces. The cutting element and a firstjaw member of the pair of jaw members comprise complementary retainingfeatures that cooperate to retain the cutting element in a position heldby the first jaw member throughout a range of motion of the jaw membersbetween the open and the closed position.

Additional objects, features, and/or advantages will be set forth inpart in the description which follows, and in part will be obvious fromthe description, or may be learned by practice of the present disclosureand/or claims. At least some of these objects and advantages may berealized and attained by the elements and combinations particularlypointed out in the appended claims.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory onlyand are not restrictive of the claims; rather the claims should beentitled to their full breadth of scope, including equivalents.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure can be understood from the following detaileddescription, either alone or together with the accompanying drawings.The drawings are included to provide a further understanding of thepresent disclosure, and are incorporated in and constitute a part ofthis specification. The drawings illustrate one or more exemplaryembodiments of the present teachings and together with the descriptionserve to explain certain principles and operation.

FIG. 1 shows a perspective view of an exemplary embodiment of aminimally invasive surgical instrument.

FIG. 2 shows a perspective view of an exemplary embodiment of a patientside cart of a teleoperated, computer-assisted surgical system.

FIGS. 3A and 3B show magnified perspective views of a distal end portionof an exemplary embodiment of a surgical instrument with a gripping andcutting end effector in closed and open positions, respectively.

FIGS. 4A and 4B show cross-section views of an exemplary embodiment of agripping end effector in open and closed positions, respectively.

FIG. 5 shows a detailed perspective view of an exemplary embodiment of acutting element coupled to a cutting element drive component and aretaining flange.

FIGS. 6A and 6B respectively show front and perspective views of anexemplary embodiment of a cutting element and a separate retainingflange attached to the cutting element with an extension component thatextends generally parallel to the plane of the cutting element.

FIGS. 7A, 7B, and 7C respectively show front, perspective, and sideviews of an exemplary embodiment of a cutting element with a retainingpin extending laterally outwardly from the planar surfaces of thecutting element in a direction generally transverse to the lengthwisedirection of the jaw members.

FIG. 8 shows a perspective view of an exemplary embodiment of a cuttingelement stamped from a single sheet of material with a portion of thecutting element bent away from the plane of the sheet to form aretaining flange.

FIGS. 9A, 9B, and 9C respectively show perspective, side, and front,views of an exemplary embodiment of a cutting element comprising a sharpedge extending to the retaining flange.

FIGS. 10A, 10B, and 10C respectively show perspective, side, and frontviews of an exemplary embodiment of a cutting element drive componentcoupled to a portion of the cutting element that is proximate a grooveof a jaw member.

FIGS. 11A and 11B show cutaway perspective views of an exemplaryembodiment of an electrosurgical end effector comprising a pair ofgripping jaw members and a cutting element in a retracted position and adeployed position, respectively.

FIGS. 12A and 12B show perspective and top views of an exemplaryembodiment of an electrosurgical end effector comprising a pair ofcurved gripping jaw members and a retaining slot in one of the jawmembers.

DETAILED DESCRIPTION

This description and the accompanying drawings that illustrate exemplaryembodiments should not be taken as limiting. Various mechanical,compositional, structural, electrical, and operational changes may bemade without departing from the scope of this description and theclaims, including equivalents. In some instances, well-known structuresand techniques have not been shown or described in detail so as not toobscure the disclosure. Like numbers in two or more figures representthe same or similar elements. Furthermore, elements and their associatedfeatures that are described in detail with reference to one embodimentmay, whenever practical, be included in other embodiments in which theyare not specifically shown or described. For example, if an element isdescribed in detail with reference to one embodiment and is notdescribed with reference to a second embodiment, the element maynevertheless be claimed as included in the second embodiment.

For the purposes of this specification and appended claims, unlessotherwise indicated, all numbers expressing quantities, percentages, orproportions, and other numerical values used in the specification andclaims, are to be understood as being modified in all instances by theterm “about,” to the extent they are not already so modified.Accordingly, unless indicated to the contrary, the numerical parametersset forth in the following specification and attached claims areapproximations that may vary depending upon the desired propertiessought to be obtained. At the very least, and not as an attempt to limitthe application of the doctrine of equivalents to the scope of theclaims, each numerical parameter should at least be construed in lightof the number of reported significant digits and by applying ordinaryrounding techniques.

It is noted that, as used in this specification and the appended claims,the singular forms “a,” “an,” and “the,” and any singular use of anyword, include plural referents unless expressly and unequivocallylimited to one referent. As used herein, the term “include” and itsgrammatical variants are intended to be non-limiting, such thatrecitation of items in a list is not to the exclusion of other likeitems that can be substituted or added to the listed items.

In accordance with various exemplary embodiments, the present disclosurecontemplates surgical instruments comprising end effectors having a slotthat provides a guide and retention track that is configured to receivea portion of a cutting element as it translates during deployment andretraction of the cutting element, thereby preventing the cuttingelement from slipping out of its desired position within the track. Theend effector may comprise, for instance, a pair of opposing jaw membersthat are configured to grip tissue between the jaw members. For example,in some embodiments, the jaw members may further be configured todeliver electrical energy to perform electrosurgical procedures such assealing (cauterizing) a material, such as tissue, gripped betweengripping surfaces of the pair of jaw members. A retractable cuttingelement, such as a surgical knife or blade, may be deployed, i.e.translated in a direction along a length of the pair of jaw members forcutting the gripped material (which may have been sealed in the case ofan electrosurgical instrument). A retaining feature can be coupled tothe cutting element, and at least one jaw member of the pair of jawmembers can comprise a complementary retaining feature configured tocapture the retaining feature coupled to the cutting element, while thecutting element is translated.

The complementary retaining feature runs along a portion of the lengthof the at least one jaw member, and can be configured to capture theretaining feature coupled to the cutting element while the jaw membersare in any position relative to each other, i.e. between a fully closedposition and a fully open position. In other words, the retainingfeature presents a stop for preventing the cutting element from beingremoved from the slot in the at least one jaw member. The retainingfeature, and corresponding complementary retaining feature, may beoriented to extend at an angle relative to a plane of the cuttingelement. For instance, the cutting element may be generally planar in aplane oriented in a lengthwise direction of the jaw members. The planemay further extend between the jaw members such that opposing edges ofthe plane of the cutting element are respectively proximate the opposingjaw members, with a sharp edge of the cutting element extending betweenthe opposing edges. In an exemplary embodiment, the retaining featuremay be coupled proximate to one or both opposing edges of the cuttingelement. The retaining feature and complementary retaining feature canbe angled relative to the plane of the cutting element and the grooveforming a track along a surface of the at least one jaw member to guidethe translating cutting element. In this way, the complementaryretaining feature of the at least one jaw member can receive theretaining feature coupled to the cutting element, and hold the cuttingelement in position in the track as the jaw members move between theopened and closed position throughout their full range of motion.

Thus, in addition to the groove in the gripping surface that provides atrack to receive the opposing edge of the cutting element during itscourse of deployment/retraction, the at least one jaw member furtherincludes a negative feature (recess, slot, etc.) within a body of thejaw that opens to the groove and is configured to house the retainingfeature on the cutting element, so as to maintain a retainedconfiguration of the cutting element with the jaw member. In anexemplary embodiment, the complementary retaining feature of the jawmember can be sized to accommodate the retaining feature and a portionof the cutting element, as well as to allow for some movement of thecutting element in a direction of the plane of the cutting element andtoward the opposing jaw member. In various exemplary embodiments, thearrangement of the retaining feature coupled to the cutting element andthe complementary retaining feature of the jaw member permits asubstantial amount of the entire sharp edge of the cutting element to beexposed, in order to sufficiently cut tissue throughout theopening/closing range of motion of the jaw members.

Moreover, although some teleoperated surgical systems include sensorsthat are configured to detect a position of the gripping jaw members,and to control or restrict deployment of the cutting element while thejaw members are open beyond a specified threshold, the complementaryretaining feature provided on at least one jaw member prevents thecutting element from slipping out of its tracks or the drive element ofthe cutting element from bending and changing an angle of the cuttingelement. Further, for existing systems that are not configured with suchcapabilities, the disclosed retention features mitigate the risk of thecutting element slipping out of alignment. In exemplary embodimentswherein the gripping surfaces of the jaw members also are configured todeliver energy to perform electrosurgical procedures, the tissue may begripped by the jaw members prior to being fused through the applicationof electrosurgical energy. In other embodiments, the cutting element canbe used to perform cold cutting in which tissue gripped between thegripping surfaces is subjected to cutting without any energy beingdelivered prior to the cutting procedure.

With reference now to FIG. 1, a perspective view of a minimally invasivesurgical instrument 100 is illustrated. The directions “proximal” and“distal” are used herein to define the directions as shown in FIG. 1,with distal generally being in a direction further along a kinematic armor closest to the surgical work site in the intended operational use ofthe instrument 100, for example, in use for performing surgicalprocedures. As shown in FIG. 1, the instrument 100 generally includes aforce/torque/position drive transmission mechanism 101, an instrumentshaft 102 mounted to the transmission mechanism 101, an end effector 103disposed at the distal end of the instrument 100, and an optionalarticulation wrist 104 disposed at a distal end of the shaft 102 tosupport the end effector 103 on the shaft 102. End effector 103 can beone of a variety of types as described above, and may comprise variousconfigurations. In one exemplary embodiment, end effector 103 may be agripping end effector comprising gripping jaw members with electrodesconfigured to perform electrosurgical procedures, such as sealing andcutting, on a material such as, for instance, tissue. When configuredfor electrosurgical applications, end effector 103 may operate in amonopolar or bipolar mode to deliver electrical flux for sealing, whilefurther using mechanical actuation for deploying a cutting element. Endeffector 103 can also operate in harmonic, laser, and ultrasonic modesto deliver types of energy other than electrical or mechanical energy.An exemplary embodiment of a gripping end effector is further describedwith reference to FIGS. 3-4.

As discussed above, in accordance with various exemplary embodiments,surgical instruments of the present disclosure are configured for use inteleoperated, computer-assisted surgical systems (sometimes referred toas robotic surgical systems). Referring now to FIG. 2, an exemplaryembodiment of a patient side cart 210 of a teleoperated,computer-assisted surgical system, to which surgical instruments areconfigured to be mounted for use, is shown. Such a surgical system mayfurther include a surgeon console (not shown) for receiving input from auser to control instruments of patient side cart 210, as well as anauxiliary control/vision cart (not shown), as described in, for example,U.S. Pub. No. US 2013/0325033, entitled “Multi-Port Surgical RoboticSystem Architecture” and published on Dec. 5, 2013, and U.S. Pub. No. US2013/0325031, entitled “Redundant Axis and Degree of Freedom forHardware-Constrained Remote Center Robotic Manipulator” and published onDec. 5, 2013, each of which is hereby incorporated by reference in itsentirety. Non-limiting, exemplary embodiments of teleoperated surgicalsystems with which the principles of the present disclosure may beutilized include the da Vinci® Si Surgical System, Single Site da Vinci®Surgical System, and da Vinci® Xi Surgical System, available fromIntuitive Surgical, Inc. of Sunnyvale, Calif. However, persons havingordinary skill in the art will appreciate that the present disclosurecan be applied to a variety of other teleoperated, computer-assistedsurgical systems as well as other automated or manual (hand-held)laparoscopic surgical systems.

Patient side cart 210 includes a base 211, a main column 212, and a mainboom 213 connected to main column 212. Patient side cart 210 alsoincludes a plurality of jointed set-up arms 214, 215, 216, 217, whichare each connected to main boom 213. In other exemplary embodiments, anynumber of manipulator arms is contemplated as within the scope of thesubject disclosure. Arms 214, 215, 216, 217 each include an instrumentmount portion 220 to which an instrument may be mounted, such asinstrument 200, which is illustrated as being attached to arm 210. Arms214, 215, 216, 217 further include manipulator portions that can bemanipulated during a surgical procedure according to commands providedby a user at the surgeon console. In an exemplary embodiment, signal(s)or input(s) transmitted from a surgeon console (not shown) aretransmitted to a control/vision cart (not shown), which interprets theinput(s) and generate command(s) or output(s) to be transmitted to thepatient side cart 210 to cause manipulation of an instrument 200 and/orportions of arm 214 to which the instrument 200 is coupled. Those havingordinary skill in the art would understand that the processor/controllerfunctionality need not be included in an auxiliary/vision cart separatefrom the patient side cart and surgeon console, but rather could be on adifferent piece of equipment, on the surgeon console or patient sidecart, or distributed between those components.

Instrument mount portion 220 comprises an actuation interface assembly222 and a cannula mount 224, with a force transmission mechanism 201 ofinstrument 200 connecting with the actuation interface assembly 222.Cannula mount 224 is configured to hold a cannula 250 through whichshaft 202 of instrument 200 may extend to a surgery site during asurgical procedure. Actuation interface assembly 222 contains a varietyof drive and other mechanisms that are controlled to respond to inputcommands at the surgeon console and transmit forces to the forcetransmission mechanism 201 to actuate instrument 200, as those skilledin the art are familiar with.

Although the exemplary embodiment of FIG. 2 shows an instrument 200attached to only arm 214 for ease of viewing, an instrument may beattached to any and each of arms 214, 215, 216, 217. An instrument 200may be a surgical instrument with an end effector, such as instrument100 as discussed above with reference to FIG. 1. A surgical instrumentwith an end effector may be attached to and used with any of arms 214,215, 216, 217. However, the embodiments described herein are not limitedto the exemplary embodiment of FIG. 2, and various other teleoperated,computer-assisted surgical system configurations may be used with theexemplary embodiments described herein.

Referring again to FIG. 1, the transmission mechanism 101 transmitsreceived actuation inputs, for example, from a patient side cart (suchas 210) in computer-assisted surgical systems or manually, to resultingtorques and forces to effect movement of the instrument shaft 102,optional wrist 104, end effector 103, and/or associated components, toaccomplish various motions, potentially resulting in amultiple-degrees-of-freedom (multi-DOF) actuation of the surgicalinstrument. For example, the transmission mechanism 101 can becontrolled via inputs (e.g., torque inputs) to roll shaft 102, andconsequently end effector 103 (roll DOF), open and close jaw members ofthe end effector 103 (grip or clamp DOF), and articulate wrist 104(articulation DOF), among others. In various exemplary embodiments, thewrist 104 can be configured for one-DOF or two-DOF articulation inorthogonal directions to provide “pitch” and/or “yaw” movement of endeffector 3 (yaw being arbitrarily defined as being the plane of motionof the end effector jaw members, pitch being orthogonal to yaw). Inaddition, a cutting element can be independently controlled intranslation DOF for movement relative to the end effector substantiallyalong a longitudinal direction of the end effector jaws, even when thewrist is articulated in pitch and/or yaw relative to a longitudinal axisof the instrument shaft, and/or when the instrument shaft and endeffector are rolled (i.e., rotated about the longitudinal axis of theshaft).

In embodiments wherein the instrument is an electrosurgical instrument,the transmission mechanism 101 also can accommodate electricalconductors (not shown in FIG. 1) to receive electrical energy viaconnector 106 that is electrically coupled to an electrical fluxgeneration source such as, for example, an electrosurgical supply unit(ESU). The ESU may be remotely controlled by a surgeon via a surgeonconsole, as discussed above. Electrical conductors include wires andother types of conductors (for example, ultrasonic) for actuating andfor delivering flux (for example, electrical, thermal, or ultrasonicenergy) from one or more ESU's to end effector 103, whereupon the fluxmay be used to perform electrosurgical procedures, such as fuse,cauterize, or cut tissue and/or tissue-like materials. The conductorscan be routed from the transmission mechanism 101, down the instrumentshaft 102 to the end effector 103.

Additional details regarding exemplary, but non-limiting, embodiments ofelectrosurgical instruments that include a transmission mechanism and ajawed end effector with opposing electrode assemblies configured forperforming fusing and cauterizing (e.g., vessel sealing) in combinationwith a translating cutting element are disclosed in U.S. Pat. No.9,055,961 B2, and being titled “FUSING AND CUTTING SURGICAL INSTRUMENTAND RELATED METHODS,” and issued Jun. 16, 2015, which is herebyincorporated by reference herein in its entirety.

FIGS. 3A and 3B show magnified perspective views of a distal end portionof an exemplary embodiment of a surgical instrument 300 with a grippingand cutting end effector 303 in closed and open positions, respectively.In this embodiment, gripping end effector 303 comprises a pair ofopposing jaw members including an upper jaw member 330, lower jaw member340, and cutting element 350. For the purposes of this embodiment, thewords “upper” and “lower” describe relative positions with respect tothe orientation shown in FIG. 3; those having ordinary skill in the artwould appreciate, however, that the relative positions of the jawmembers can be reversed, such as, for example, when the instrument shaftand end effector are subjected to a roll motion. Upper jaw member 330and lower jaw member 340 may be closed as depicted in FIG. 3A (i.e., oneor each jaw member being moved toward the other or each other indirections 311 respectively) and opened as depicted in FIG. 3B (i.e.,one or each jaw member being moved away from the other or each other indirection 312 respectively), via mechanical actuation elements routedthrough surgical instrument 300, such as from a transmission housing(not shown) along the instrument shaft 302 and to end effector 303. Eachjaw member 330, 340 may be independently actuated such that each jawmember can respectively move in directions 311, 312 independently of theother jaw member.

Further, over a gripping range of motion from a closed position (i.e.,the limit of closure defined between the jaws) to a positionintermediate the full range of motion of the jaw members, jaw members330 and 340 can be used to grip a material, such as tissue, betweengripping surfaces 333, 343 of jaw members 330 and 340 respectively.Cross-sections along direction 305 of a gripping end effector gripping amaterial are further described with respect to FIGS. 4A and 4B. For thepurposes of this disclosure, “gripping surfaces” are any surfaces ofgripping end-effectors that grip material, such as tissue, and thatoptionally deliver energy to perform electrosurgical procedures. Thegripping surfaces may comprise opposite-facing surfaces of each jawmember. For example, a lower surface 333 of upper jaw member 330 andupper surface 343 of lower jaw member 340 collectively comprise grippingsurfaces. The tissue may be gripped using the jaw members 330 and 340,and cut using cutting element 350.

In this embodiment, cutting element 350 is generally planar in shape,with its main planar faces extending in a proximal-distal direction,(i.e., along a length of jaw members 330, 340). For example, cuttingelement 350 comprises edges surrounding the planar faces includingopposite edges to be received in respective grooves 331 and 341 providedon surfaces 333, 343. To perform the cutting procedure, cutting element350 is deployed (as depicted in FIG. 3A) from a proximal-most position(i.e., “garaged” position) to a distal-most position, by beingtranslated along a length of grooves 331 and 341 in a proximal-distaldirection. Cutting element 350 is translated by cutting element drivecomponent 351 coupled to proximal edge 355 of cutting element 350.Distal edge 352 is sharpened to enable cutting of the material grippedbetween the gripping surfaces 333, 343 as cutting element 350 isdeployed. At least for a teleoperated surgical instrument, thetranslation can occur via, for instance, a controller and software thatcontrols the operation to drive cutting element drive component 351through drives in a transmission housing (not shown) at a proximal endof the shaft of the instrument.

As shown in the exemplary embodiment of at least FIGS. 3A and 3B,cutting element drive component 351 can comprise a cable having a distalend that is welded to the proximal end of cutting element 350. To avoidsharp edges and/or blunt surfaces where cutting element 350 attaches tocutting element drive component 351, cutting element 350 and cuttingelement drive component 351 may be blend welded together to provide asmooth interface between the two components. Providing a relativelysmooth interface between the two components can reduce the risk ofhaving cutting element 350 become stuck on material during a cuttingprocedure. Cutting element drive component 351 is attached at a proximalend to a transmission mechanism (not shown), which is configured toprovide a linear (push/pull) motive force to cutting element drivecomponent 351 and allow roll multiple degrees of freedom as describedabove. The cable structure of cutting element drive component 351 issufficiently flexible so as to withstand bending in various directionsabout its longitudinal axis, while also providing sufficient compressiveand tensile strength to withstand and transmit the push/pull actuationforces from the transmission mechanism to translate cutting element 350,including through the material in order to effect cutting. For example,end effector 303 may be coupled to a wrist provided at the distal end ofinstrument shaft 302, with the wrist being configured to articulate inmultiple degrees of freedom. Cutting element drive component 351 can becentrally routed through shaft 302 including the wrist, and can beflexible in multiple degrees of freedom about a longitudinal axis. Thecentral routing of cutting element drive component 351 permits surgicalinstrument 300 to have a relatively compact design, while also providingcentering of cutting element 350 relative to end effector 303 during thecutting procedure. Further, central routing of cutting element drivecomponent 351 can reduce friction that acts on cutting element drivecomponent 351 as it is articulated and/or rolled when translatingcutting element 350. In this way, the force required to deploy cuttingelement 350 can be reduced in comparison with a configuration in whichcutting element drive component 351 is routed toward an outer peripheryof the instrument as opposed to centrally. Further, central routing ofcutting element drive component 351 can result in substantially nochange of length during articulation of end effector 303, allowingcutting element 350 to remain in a garaged position during articulation.

In an alternative embodiment (not shown), rather than a cable structure,cutting element drive component 351 can include a superelastic flexiblewire having a high tensile and compressive strength, such as, forexample, a nitinol wire. The flexibility of cutting element drivecomponent 351 enables flexion as the jaw members 330, 340 are movedbetween open and closed positions, allowing reduced friction and easiertracking of the cutting element 350 in groove 331. Other exemplaryembodiments of drive components that are contemplated as within thescope of the present invention that can be used in lieu of a flexiblecable or wire structure, include a planar sheet metal component that canbe integral with the cutting element by providing the distal end of sucha member with a sharpened cutting surface. The use of such a structuremay be combined, for example, with a non-wristed instrument or aninstrument having a wrist that articulates in one degree of freedom.

Grooves 331 and 341 are configured as tracks for maintaining themovement of cutting element 350 in the proximal-distal (and vice-versa)direction as the cutting element is translated. In other words, grooves331 and 341 guide and keep cutting element 350 aligned as it travelsalong the length of jaw members 330, 340. Further, and as describedherein, a retaining feature (not shown) can be coupled to cuttingelement 350, and received by a slot within groove 331. Like groove 331,the slot runs along a portion of the length of gripping surface 333 ofjaw member 330, and retains the retaining feature when jaw members 330,340 are in an open position, as depicted in FIG. 3A. For example, in theopen position, one or both of jaw members 330, 340 may be open to adegree such that at the location of cutting element 350, a distancebetween grooves 331, 341 provided on gripping surfaces 333, 343 isgreater than the height h of cutting element 350, such that an oppositeedge of cutting element 350 is outside groove 341. Groove 341 runs alonga portion of the length of gripping surface of jaw member 340 and, in aclosed position of the jaw members 330, 340, is adapted to receive theopposite edge of cutting element 350. Thus, while groove 331 includes aslot configured to house the retaining feature, groove 341 can beconfigured to house a lower edge 354 of cutting element 350 while jawmembers 330 and 340 are in a closed position (as shown in FIG. 3B),while releasing the cutting element 350 when the jaw members 330 and 340open away from each other. The length of grooves 331 and 341 can beapproximately 70% of the overall length of the jaw members from wherethey are pivotally connected together. For example, in various exemplaryembodiments, each jaw member may be between ⅝″ and 1″ long from end toend or, for example, ⅞″ in length. Each groove 331, 341 have a lengthranging from 0.4″ to a maximum of the length of the jaw itself, e.g.,1″. In the distal-most position, the distal cutting edge of cuttingelement 350 can be positioned at a distal end of grooves 331, 341respectively provided on the gripping surfaces of jaw members 330, 340.

FIGS. 4A and 4B show cross-section (i.e., transverse to the lengthwisedirection of the jaws) views of an exemplary embodiment of a grippingend effector 403 in open and closed positions, respectively. Grippingend effector 403 comprises a pair of jaw members 430, 440, and a cuttingelement 450. The cutaway view depicts a cross-section along cutaway 305of exemplary gripping end effector 303 depicted in FIG. 3. End effector403 comprises a pair of jaw members 430 and 440 that are configured togrip a material 470 between gripping surfaces 433, 443 of jaw members430, 440, and a cutting element 450 configured to cut material 470 as itis gripped between the gripping surfaces. Coupled to cutting element 450is a retaining feature in the form of a flange 456 that extendslaterally at an angle relative to the plane of cutting element 450.Retaining flange 456 can be received within a complementary negativeretaining feature, such as slot 432 opening from groove 431 of upper jawmember 430. Retaining flange 456 presents a stop for preventing cuttingelement 450 from being removed from groove 431 and slot 432.Consequently, slot 432 holds cutting element 450 in position as the jawmembers are in an open position along direction 412, as depicted in FIG.4A. Further, like groove 431, slot 432 runs along a portion of thelength of jaw member 430 in the proximal-distal direction, and isconfigured to house retaining flange 456 as cutting element 450 istranslated along the length of end effector 403, thereby forming a trackfor cutting element 450 along with groove 431. A second groove 441 runsalong a portion of the length of gripping surface 443 of lower jawmember 440, and is configured to house a lower portion 454 of cuttingelement 450 while jaw members 430 and 440 are moved along direction 411into a closed position, as depicted in FIG. 4B. To perform the cuttingprocedure, cutting element 450 is translated in the proximal-distaldirection by a cutting element drive component (not shown) coupled tothe proximal edge of cutting element 450, as previously described. Sharpedge 452 is provided on the distal edge of cutting element 450 to enablecutting of material 470 gripped between the gripping surfaces of jawmembers 430, 440. Thus, second groove 441 functions as a track for loweredge 454 of cutting element 450.

FIG. 5 is a detailed perspective view of an exemplary embodiment of acutting element 550 coupled to a cutting element drive component 551 anda retaining flange 556. Cutting element 550 is generally planar inshape, as described above. Retaining flange 556 is oriented atperpendicular angle to the plane of cutting element 550, and can beconfigured to be received and retained in a corresponding slot of a jawmember (e.g., such as the upper jaw member in the orientation ofabove-described embodiments). In other embodiments, retaining flange 556may be oriented at angles other than perpendicular to the plane of thecutting element 550, so long as there remains a transverse componentthat enables retention of cutting element 550 in a slot of a jaw memberas the jaw members open to an amount sufficient such that althoughopposing edge 554 of cutting element 550 would be removed from acorresponding groove of a jaw member, cutting element 550 remainsaligned. In other embodiments, retaining flange 556 can be any shape, solong as it restricts the motion of cutting element 550 in any directionother than the direction of translation, thereby retaining cuttingelement 550 within a track of a jaw member regardless of the degree towhich the jaws are opened with their gripping surfaces and spaced.

Retaining flange 556 can include a member 557 for coupling to an upperportion of cutting element 550. Member 557 can generally be shaped inthe plane of cutting element 550, and transverse to the retaining flange556, such that the flange 556 and member 557 form approximately aT-shape. Cutting element 550, member 557, and retaining flange 556 maybe manufactured from a single piece of material. For example, cuttingelement 550, member 557, and retaining flange 556 may be machined ormetal injection molded. In other embodiments, such as the alternativeorientations of retaining flange 556 described above, cutting element550 may be stamped from a single sheet of material, and a portion ofcutting element 550 may be bent away from the plane of the sheet andformed into a retaining flange. In other embodiments, the retainingflange may be machined or manufactured separately from the cuttingelement, and attached to the cutting element using spot welding,resistance welding, or other types of fasteners or adhesive.

Further, as described above, a distal edge 552 of cutting element 550may be sharpened for cutting material as cutting element 550 is deployedin the distal direction. In one exemplary embodiment, sharp edge 552 maybe angled inwardly (e.g., concave), such that the material being cut isdrawn closer to the middle 558 of sharp edge 552 as cutting element 550is deployed or translated in the distal direction. In other words, aconcave “V” shape 558 in cutting edge 552 can assist in pulling tissueinto the cutting surface. However, such configuration is non-limitingand exemplary only, and in other configurations the sharp edge 552 mayhave a straight, angled, or curved (including convex), or combinationsthereof, cutting surface. Moreover, the distal edge of member 557connecting to retaining flange 556 may also be sharpened, therebyintegrating with cutting edge 552 and increasing the length of the edgeusable to cut material, as further described with respect to theexemplary embodiment of FIGS. 9A-9C.

In an exemplary embodiment, the proximal end of cutting element 550 mayhave rounded corners such as corner 559 leading to opposing edge 554 andmain lateral planar surfaces, so as to minimize the risk of cuttingelement 550 getting stuck when retracted (i.e., translated in theproximal direction) after completion of a cutting procedure. In variousexemplary embodiments, cutting element 550 is made of stainless steel(e.g., 716 stainless steel) and has a double grind cutting edge 552.Cutting element 550 can be secured to cutting element drive component551 by various mechanisms, including, for example, welding. In variousexemplary embodiments, cutting element 550 has a height H ranging fromabout 0.08 in. to about 0.15 in., for example about 0.10 in., a length L(in the proximal-distal direction) ranging from about 0.10 in. to about0.13 in., for example, about 0.115 in, and a thickness T ranging fromabout 0.005 in. to 0.015 in.

As described herein, in some embodiments, the retaining flange may bemachined or manufactured separately from the cutting element, andattached to the cutting element using spot welding, resistance welding,or other types of fasteners or adhesive. FIGS. 6A-6B respectively showfront and perspective views of an exemplary embodiment of a cuttingelement 650 and a separate retaining flange 656 attached to cuttingelement 650 with an extension component 657 that extends generallyparallel to and along the lateral planar faces of the cutting element650. Extension component 657 enables securing retaining flanges 656 onthe opposite lateral planar faces of cutting element 650. Cuttingelement 650 is generally planar in shape, and is depicted in a verticalorientation such that it extends between an upper jaw member and a lowerjaw member (not shown). Retaining flange 656 is, therefore, oriented atan angle to the plane of cutting element 650, such that it is retainedin a corresponding slot of the upper jaw member and presents a stop forpreventing cutting element 650 from being removed from the groove/slotin the upper jaw member. Retaining flange 656 and extension component657 may be machined or manufactured from a single piece of materialseparately from cutting element 650, and attached to cutting element 650using spot welding, resistance welding, or other types of fasteners oradhesive. Separately manufacturing these components enables cuttingelement 650 to be manufactured from a hard material that holds a cuttingedge well, while retaining flanges 656 may be manufactured from adifferent material, for example, a material that is bendable.

However, in other embodiments, it may be more economical or convenientto manufacture the cutting element and retaining flange from a singlepiece of material. FIG. 8 shows a perspective view of an exemplaryembodiment of a cutting element 850 stamped from a single sheet ofmaterial, with portions of the cutting element bent away from the planeof the single sheet of material to form retaining flanges 856. Cuttingelement 850 is generally planar in shape, and is depicted in a verticalorientation such that it extends between an upper jaw member and a lowerjaw member (not shown). Retaining flanges 856 are, therefore, orientedat an angle to the plane of cutting element 850, such that they areretained in a corresponding slot of the upper jaw member, and present astop for preventing cutting element 850 from being removed from thegroove/slot in the upper jaw member.

Generally, a retaining feature can be any shape suitable for restrictingthe motion of the cutting element in any direction other than thedirection of translation, thereby retaining the cutting element within atrack of a jaw member as the cutting element is deployed. In anotherexemplary embodiment, the retaining feature may be configured as a pin.FIGS. 7A, 7B, and 7C respectively show front, perspective, and sideviews of an exemplary embodiment of a cutting element with a retainingpin 756 extending laterally outwardly from the planar surfaces ofcutting element 750 in a direction generally transverse to thelengthwise direction of the jaw members. Similar to the retainingflanges described above with respect to various embodiments, retainingpin 756 extends laterally outwardly (e.g., horizontally in theorientation of the figures) relative to the plane of the cutting element750. In other words, pin 756 intersects the plane of the cutting element750 at an angle, such as for example perpendicular, to the plane of thecutting element 750. In other embodiments, a retaining pin 756 may beoriented at other angles than the perpendicular orientation depictedherein, so long as there remains a transverse component relative to theplane of cutting element 750 that enables retention of cutting element750 in a slot of a jaw member in manner similar to the retention flangesdescribed above.

In some embodiments, retaining pin 756 can be configured to roll alongthe complementary negative retaining feature in the jaw member (e.g.,slot) in which the pin is received as cutting element 750 is deployedand retracted. A rolling component or sleeved roller 757 comprising aconcentric cylinder or ring may be provided over each side of retainingpin 756 to enable frictionless rolling along the length of a retainingslot of a jaw member. In other embodiments, a sleeve or coating may beprovided over the surfaces of retaining pin 756 to reduce friction asagainst the surfaces of the jaw member defining the complementaryretaining feature. Moreover, for these and other embodiments herein,surfaces of a retaining flange or pin and corresponding groove or slotmay be electropolished, such that they are smooth and minimize frictionduring deployment and retraction of the cutting element. Similarly, anysharp corners or edges can be treated such that they are rounded toreduce friction.

FIGS. 9A, 9B, and 9C respectively show perspective, side, and frontviews of an exemplary embodiment of a cutting element 950 comprising asharp edge 952 extending to the retaining flange 956, thereby increasingthe length of the edge usable to cut material. Similar to the embodimentof FIG. 5, cutting element 950 is generally planar in shape, withretaining flange 956 oriented at an angle perpendicular to the plane ofcutting element 950. Retaining flange is configured to be received andretained in a corresponding slot of a jaw member (e.g., such as theupper jaw member in the orientation of above-described embodiments).Cutting element 950 and retaining flange 956 may be manufactured from asingle piece of material that is machined or metal injection molded, orretaining flange 956 may be machined or manufactured separately fromcutting element 950, and attached to cutting element 950 using spotwelding, resistance welding, or other types of fasteners or adhesive.

FIGS. 10A, 10B, and 10C respectively show perspective, side, and frontviews of an exemplary embodiment of a cutting element drive component1051 coupled to a portion of cutting element 1050 that is proximate agroove of a jaw member. Similar to the embodiment of FIGS. 9A-9C,cutting element 1050 is generally planar in shape, with retaining flange1056 oriented at an angle perpendicular to the plane of cutting element1050 and configured to be received and retained in a corresponding slotof a jaw member (e.g., such as the upper jaw member in the orientationof above-described embodiments). In this embodiment, cutting elementdrive component 1051 is vertically shifted to a position closer toretaining flange 1056. Consequently, cutting element drive component1051 is closer to or may be enclosed within a groove of an opposingsurface of a jaw member configured to house retaining flange 1056. Thisproximity or enclosure by a groove hinders excess movement or flex incutting element drive component 1051 as cutting element 1050 istranslated, thereby preventing tipping or binding of cutting elementdrive component 1051 in the groove.

Optionally, jaw members of an end effector may further be provided withelectrode surfaces configured to deliver electrosurgical energy, forexample to fuse tissue, with the cutting element being used to cut thefused tissue. FIGS. 11A-11B are cutaway views of an exemplary embodimentof an electrosurgical end effector comprising a pair of gripping jawmembers 1130, 1140, and a cutting element 1150 in a retracted position(FIG. 11A) and a deployed position (FIG. 11B). Upper jaw member 1130 andlower jaw member 1140 may be opened, i.e. moved away from each other,and closed, i.e. moved toward each other. In a closed position, jawmembers 1130 and 1140 can be used to grip a material, such as tissue,between gripping surfaces of jaw members 1130 and 1140. As furtherdescribed herein, cutting element 1150 is deployed to cut the materialgripped between the gripping surfaces.

Each jaw member 1130, 1140 respectively includes a metal body portion1133, 1143 that provides structural rigidity to end effector 1103.Grooves 1131 and 1141 for retaining upper and lower portions of cuttingelement 1150 may be provided within metal body portions 1133, 1143.Generally, grooves 1131 and 1141 are configured as tracks formaintaining the movement of cutting element 1150 in the proximal-distaldirection as the cutting element is translated. In other words, grooves1131 and 1141 keep cutting element 1150 aligned as it travels along thelength of jaw members 1130, 1140. Further, a slot 1132, provided withingroove 1131, is configured to house a retaining flange of cuttingelement 1150 while one or both of jaw members 1130, 1140 move to an openposition, and while cutting element 1150 is translated. For example,slot 1132 is configured to house retaining flange 1156, and groove 1141is configured to house a lower portion of cutting element 1150 while jawmembers 1130 and 1140 are in a closed position. If cutting element 1150is deployed while jaw members 1130 and 1140 are in an open position orclamped around a large bundle of tissue, cutting element 1150 can slipout of groove 1141, but remains aligned by virtue of cooperation orengagement between retaining flange 1156 coupled thereto, and slot 1132.

Further, each jaw member 1130, 1140 can be provided with one or moreelectrodes 1136 (or electric terminals) that deliver electrical energyfor performing electrosurgical procedures. For example, end effector1103 can be a tissue sealing and cutting end effector. To perform asealing procedure, end effector 1103 is used to grasp tissue (such as,e.g., a vascular bundle or skeletonized vessel) or other materialbetween upper and lower jaw members 1130, 1140, and apply electricalenergy to the material via electrodes 1134, 1144. The electrical energymay be applied, for instance, using input controls at a surgeon'sconsole of a teleoperated surgical system or otherwise from a generatorsource (ESU). The tissue may be grasped between working surfaces of jawmembers 1130, 1140, as described in FIG. 4. The application ofelectrical energy at a specific voltage (and, in the case of A/Cvoltage, frequency) generates heat in the material due to the resistanceinherent to the material. In the case of tissue, the heat causes theproteins within the grasped tissue to melt until they are crosslinked,thereby forming a permanent weld or seal. Polarities and amplitudes ofvoltage can be adjusted using a control panel at the ESU, or by asurgeon operating a console, or any other method. To cut the sealedmaterial, cutting element 1150 is deployed from a proximal-most position(i.e. “garaged” position depicted in FIG. 11A) to a distal-most position(as depicted in FIG. 11B) by being translated along a length of grooves1131 and 1141, i.e. in the proximal-distal direction.

In addition to sealing electrodes 1134, 1144, each jaw member 1130, 1140further comprises plastic outer layers 1135, 1145, and insulating layers1136 and 1146. Plastic outer layers 1135, 1145 are plastic overmoldlayers that retain electrodes 1134, 1144 respectively, and providethermal isolation between each electrode and tissue surroundingend-effector 1103. Insulating layer 1136 is provided to electricallyisolate metal body portion 1133 from electrode 1134, and insulatinglayer 1146 is provided to electrically isolate metal body portion 1143from electrode 1144. Moreover, as grooves 1131 and 1141 and slot 1132are provided within metal body portions 1133 and 1143 respectively,cutting element 1150 remains electrically isolated from electrodes 1136and 1146 as it is translated along the slots. As described herein,cutting element 1150 and retaining flange 1156 may be electropolished toenable smooth translation along slot 1132. Further, inner walls ofgrooves 1131, 1141 and slot 1132 may be lined with plastic so as toprovide less friction during translation. In some embodiments, retainingflange 1156 may also be made out of plastic. The plastic may comprise,for example, PPA™, or (PTFE) (e.g., Teflon™), and may be constructed byovermolding. Moreover, electrodes 1134 and 1144 may be manufactured fromstainless steel, thereby maintaining uniform electrical conductivity andthermal properties.

FIGS. 12A and 12B show perspective and top views of an exemplaryembodiment of a surgical instrument 1200 having an end effector 1203comprising a pair of curved gripping jaw members 1230, 1240 and aretaining slot 1231 in one of the jaw members. Gripping jaw members1230, 1240 may be curved in order to provide enhanced visualization,access, and gripping abilities, particularly for instruments that lack ateleoperated wrist as described herein. Gripping jaw members 1230, 1240may have a curved shape (curved longitudinal axis) along a lengthwise,proximal-distal direction of the jaw members 1230, 1240. Further, agroove and/or slot 1231 provided within one or both of jaw members 1230,1240 is correspondingly curved, enabling a cutting element (not shown)with a flange attached therein to be translated in a direction along thecurve of jaw members 1230, 1240. A cutting element drive component fortranslating the cutting element may be made of a flexible material toenable translation along the curved jaw members. In an exemplaryembodiment, the instrument 1200 may be configured as an electrosurgicalinstrument with jaw members configured to delivery electrosurgicalenergy.

Various exemplary embodiments described herein enable a cutting elementof a gripping end effector to be deployed and retracted without slippingout of alignment and engagement with one or more of the gripping jawsthroughout the range of opening/closing motion of the jaws. Although theshape of the cutting element and retaining feature are respectivelydepicted as a generally vertically oriented plane and a laterallyextending component perpendicular to the plane of the cutting element,other configurations and arrangements are contemplated as within thescope of the present disclosure and would be appreciated by those ofordinary skill in the art in view of the present disclosure. Nonlimitingexemplary configurations may include, for example, an L-shape or7-shape, and corresponding retaining slots may be provided in either orboth of the opposing jaw members, so long as the ability to retain thecutting element through a range of translation and over a substantialrange of opening/closing motion of the jaws is maintained, and withoutcompromising a structural strength of the jaw members. In some exemplaryembodiments, a slot provided in a jaw member may extend through a bodyof the jaw member, for at least a portion of a length of the jaw member.This opening through a top of the end effector enables an operator suchas, for instance, a surgeon, to monitor a deployment of a cuttingelement. To further enable this monitoring, the retaining feature mayfurther comprise a vertical member extending through said extended slot,such that the deployment of the cutting element is visible from jawmember, thereby acting as an indicator of the position of the cuttingelement. In other words, a portion of the retaining flange can betransparent through the exterior of the jaw member to provide visibilityto the complementary retaining feature or slot, and the retainingfeature or flange that is translated therein.

Although the embodiments describe surgical procedures performed onmaterials such as tissue, for example, blood vessels, the surgicalinstruments described herein can also be used on materials havingproperties similar to tissue for training and/or testing purposes.Moreover, the principles described herein may be applied in other typesof remotely-actuatable and/or robotic instruments used for a variety ofapplications, such as space technologies, manufacturing, oil/drilling,remote exploration, and so on. Further modifications and alternativeembodiments will be apparent to those of ordinary skill in the art inview of the disclosure herein. Other configurations of cutting elements,retaining flanges, sharp or rounded edges, electrode placement,materials, shapes, relative dimensions etc. can be used and modified toachieve various desired effects. Further, the systems and the methodsmay include additional components or steps that were omitted from thediagrams and description for clarity of operation.

Accordingly, this description is to be construed as illustrative onlyand is for the purpose of teaching those skilled in the art the generalmanner of carrying out the present teachings. It is to be understoodthat the various embodiments shown and described herein are to be takenas exemplary. Elements and materials, and arrangements of those elementsand materials, may be substituted for those illustrated and describedherein, parts and processes may be reversed, and certain features of thepresent teachings may be utilized independently, all as would beapparent to one skilled in the art after having the benefit of thedescription herein. Changes may be made in the elements described hereinwithout departing from the spirit and scope of the present teachings andfollowing claims. The nature of information depicted in the figures anddescribed herein is exemplary. Those persons having skilled in the artwould appreciate modifications to the displays can be made, such as, forexample, depending on the number and type of controls desired, thenumber and/or type of instruments to be used, and/or the functions ofthe instruments used and the type of fluxes supplied by flux supplyunits. The various instrument setups depicted in the drawings anddescribed herein are exemplary in nature and the present disclosurecontemplates other instrument setups. Moreover, it should be understoodthat the figures are not drawn to scale.

This description's terminology is not intended to limit the invention.For example, spatially relative terms—such as “beneath”, “below”,“lower”, “above”, “upper”, “proximal”, “distal”, and the like—may beused to describe one element's or feature's relationship to anotherelement or feature as illustrated in the figures. These spatiallyrelative terms are intended to encompass different positions (i.e.,locations) and orientations (i.e., rotational placements) of a device inuse or operation in addition to the position and orientation shown inthe figures. For example, if a device in the figures is turned over,elements described as “below” or “beneath” other elements or featureswould then be “above” or “over” the other elements or features. Thus,the exemplary term “below” can encompass both positions and orientationsof above and below. A device may be otherwise oriented (rotated 90degrees or at other orientations) and the spatially relative descriptorsused herein interpreted accordingly.

It is to be understood that the particular examples and embodiments setforth herein are nonlimiting, and modifications to structure,dimensions, materials, and methodologies may be made without departingfrom the scope of the present teachings. Other embodiments in accordancewith the present disclosure will be apparent to those skilled in the artfrom consideration of the specification and practice of the inventiondisclosed herein. It is intended that the specification and examples beconsidered as exemplary only, with a scope of the following claims beingentitled to their broadest interpretation, including equivalents.

What is claimed is:
 1. A surgical instrument, comprising: a pair of jawmembers configured to grip material, wherein a first jaw member of thepair of jaw members comprises a groove along a length portion of thefirst jaw member, the groove extending from a gripping surface of thefirst jaw member in a first direction; and a slot along the lengthportion of the first jaw member and extending from the groove in asecond direction, the second direction being different than the firstdirection; a cutting element comprising a first edge engaged with thegroove, the cutting element translatable along the groove; and aretaining feature coupled to the first edge of the cutting element andengaged with the slot, wherein the retaining feature remains engagedwith the slot throughout a range of translation of the cutting elementalong the groove, and wherein the cutting element is translatable alongthe groove independently from a movement of the pair of jaw membersbetween an open position and a closed position.
 2. The surgicalinstrument of claim 1, wherein the pair of jaw members is coupled to awrist configured to articulate in multiple degrees of freedom.
 3. Thesurgical instrument of claim 2, further comprising a cutting elementdrive component configured to translate the cutting element along thegroove.
 4. The surgical instrument of claim 3, wherein the cuttingelement drive component is bendable in response to articulation of thewrist in the multiple degrees of freedom.
 5. The surgical instrument ofclaim 3, wherein the cutting element comprises a second edge and a thirdedge, the second edge opposite from the first edge, the third edgeextending between the first and second edges, and wherein the cuttingelement drive component is coupled to the third edge of the cuttingelement.
 6. The surgical instrument of claim 5, wherein the cuttingelement comprises a fourth edge opposite from the third edge, the fourthedge comprising a sharpened edge configured to cut the material grippedby the pair of jaw members.
 7. The surgical instrument of claim 3,wherein the cutting element drive component is routed through the wrist.8. The surgical instrument of claim 7, wherein the cutting element drivecomponent is routed through a center of the wrist.
 9. The surgicalinstrument of claim 1, further comprising: a cutting element drivecomponent configured to translate the cutting element along the groove,wherein the cutting element drive component is bendable in response tomovement of the pair of jaw members between the open and closedpositions.
 10. The surgical instrument of claim 1, wherein the retainingfeature and the cutting element are integral parts of a same piece ofmaterial.
 11. The surgical instrument of claim 10, wherein the retainingfeature and the cutting element are formed by machining or molding thepiece of material.
 12. The surgical instrument of claim 1, wherein theretaining feature and the cutting element are coupled together.
 13. Thesurgical instrument of claim 12, wherein the retaining feature comprisesa pin coupled to the cutting element.
 14. The surgical instrument ofclaim 12, wherein the retaining feature is overmolded onto the cuttingelement.
 15. The surgical instrument of claim 1, wherein each jaw memberof the pair of jaw members is configured to be moved from an openposition to a closed position independently from the other jaw member ofthe pair of jaw members.
 16. The surgical instrument of claim 1, whereina second jaw member of the pair of jaw members comprises a second groovealong a length portion of a gripping surface of the second jaw member,and wherein a second edge of the cutting element, opposite from thefirst edge, is engageable with the second groove on condition of thepair of jaw members being in the closed position.
 17. The surgicalinstrument of claim 16, wherein the second edge of the cutting elementis disengaged from the second groove on condition of the pair of jawmembers being moved out of the closed position.
 18. The surgicalinstrument of claim 1, wherein at least one of the pair of jaw memberscomprises an electrode.
 19. The surgical instrument of claim 1, whereinthe gripping surface of the first jaw member comprises an electrode. 20.The surgical instrument of claim 1, wherein the first jaw member and thegroove are curved in the length direction of the first jaw member.